Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into pr-taisync-android

.travis.yml

@@ -83,7 +83,7 @@ install:
 
   # android dependencies: qt, gstreamer, android-ndk
   - if [ "${SPEC}" = "android-g++" ]; then
-        wget --quiet http://www.grubba.com/gstreamer-1.0-android-universal-1.14.4.tar.bz2 &&
+        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/gstreamer-1.0-android-universal-1.14.4.tar.bz2 &&
         tar jxf gstreamer-1.0-android-universal-1.14.4.tar.bz2 -C ${TRAVIS_BUILD_DIR} &&
         wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.11.0-android_armv7-min.tar.bz2 &&
         tar jxf Qt5.11.0-android_armv7-min.tar.bz2 -C /tmp &&

QGCExternalLibs.pri

@@ -132,6 +132,16 @@ MacBuild {
         -lSDL2
 }
 
+AndroidBuild {
+    contains(QT_ARCH, arm) {
+        ANDROID_EXTRA_LIBS += $$BASEDIR/libs/AndroidOpenSSL/arch-armeabi-v7a/lib/libcrypto.so
+        ANDROID_EXTRA_LIBS += $$BASEDIR/libs/AndroidOpenSSL/arch-armeabi-v7a/lib/libssl.so
+    } else {
+        ANDROID_EXTRA_LIBS += $$BASEDIR/libs/AndroidOpenSSL/arch-x86/lib/libcrypto.so
+        ANDROID_EXTRA_LIBS += $$BASEDIR/libs/AndroidOpenSSL/arch-x86/lib/libssl.so
+    }
+}
+
 #
 # [OPTIONAL] Zeroconf for UDP links
 #

android/AndroidManifest.xml

@@ -71,6 +71,8 @@
     <uses-feature android:name="android.hardware.location" android:required="false"/>
     <uses-feature android:name="android.hardware.usb.accessory"/>
 	
+	<uses-permission android:name="android.permission.INTERNET" />
+	
     <!-- The following comment will be replaced upon deployment with default features based on the dependencies of the application.
          Remove the comment if you do not require these default features. -->
     <!-- %%INSERT_FEATURES -->

libs/AndroidOpenSSL/README.md

+These OpenSLL libraries foir Android are built using the scripts found here: https://github.com/esutton/android-openssl
\ No newline at end of file

v2.0 @ 90d9b285

-Subproject commit c38176a0a63556815ea117c6877ce2dd18739231
+Subproject commit 90d9b285e01fe8bfa3b4e8868ca71c5537d43302

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -84,6 +84,7 @@ public:
     QString             flightMode                      (uint8_t base_mode, uint32_t custom_mode) const override;
     bool                setFlightMode                   (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) override;
     bool                isGuidedMode                    (const Vehicle* vehicle) const override;
+    QString             gotoFlightMode                  (void) const override { return QStringLiteral("Guided"); }
     QString             rtlFlightMode                   (void) const override { return QString("RTL"); }
     QString             missionFlightMode               (void) const override { return QString("Auto"); }
     void                pauseVehicle                    (Vehicle* vehicle) override;

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -757,3 +757,8 @@ int FirmwarePlugin::versionCompare(Vehicle* vehicle, QString& compare)
     int patch = versionNumbers[2].toInt();
     return versionCompare(vehicle, major, minor, patch);
 }
+
+QString FirmwarePlugin::gotoFlightMode(void) const
+{
+    return QString();
+}

src/FirmwarePlugin/FirmwarePlugin.h

@@ -114,6 +114,9 @@ public:
     /// Returns whether the vehicle is in guided mode or not.
     virtual bool isGuidedMode(const Vehicle* vehicle) const;
 
+    /// Returns the flight mode which the vehicle will be in if it is performing a goto location
+    virtual QString gotoFlightMode(void) const;
+
     /// Set guided flight mode
     virtual void setGuidedMode(Vehicle* vehicle, bool guidedMode);
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -42,6 +42,7 @@ public:
     QString             rtlFlightMode                   (void) const override { return _rtlFlightMode; }
     QString             landFlightMode                  (void) const override { return _landingFlightMode; }
     QString             takeControlFlightMode           (void) const override { return _manualFlightMode; }
+    QString             gotoFlightMode                  (void) const override { return _holdFlightMode; }
     void                pauseVehicle                    (Vehicle* vehicle) override;
     void                guidedModeRTL                   (Vehicle* vehicle) override;
     void                guidedModeLand                  (Vehicle* vehicle) override;

src/FlightDisplay/FlightDisplayView.qml

@@ -488,13 +488,13 @@ QGCView {
                 exclusiveGroup: multiVehicleSelectorGroup
                 text:           qsTr("Single")
                 checked:        true
-                color:          mapPal.text
+                textColor:      mapPal.text
             }
 
             QGCRadioButton {
                 exclusiveGroup: multiVehicleSelectorGroup
                 text:           qsTr("Multi-Vehicle")
-                color:          mapPal.text
+                textColor:      mapPal.text
             }
         }
 

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -295,6 +295,7 @@ FlightMap {
         }
     }
 
+    // GoTo Location visuals
     MapQuickItem {
         id:             gotoLocationItem
         visible:        false
@@ -308,6 +309,22 @@ FlightMap {
             label:      qsTr("Goto here", "Goto here waypoint")
         }
 
+        property bool inGotoFlightMode: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.gotoFlightMode : false
+        property var activeVehicle: _activeVehicle
+
+        onInGotoFlightModeChanged: {
+            if (!inGotoFlightMode && visible) {
+                // Hide goto indicator when vehicle falls out of guided mode
+                visible = false
+            }
+        }
+
+        onActiveVehicleChanged: {
+            if (!_activeVehicle) {
+                visible = false
+            }
+        }
+
         function show(coord) {
             gotoLocationItem.coordinate = coord
             gotoLocationItem.visible = true
@@ -316,10 +333,17 @@ FlightMap {
         function hide() {
             gotoLocationItem.visible = false
         }
-    }
 
-    // Orbit visuals
+        function actionConfirmed() {
+            // We leave the indicator visible. The handling for onInGuidedModeChanged will hide it.
+        }
+
+        function actionCancelled() {
+            hide()
+        }
+    }
 
+    // Orbit editing visuals
     QGCMapCircleVisuals {
         id:             orbitMapCircle
         mapControl:     parent
@@ -328,9 +352,16 @@ FlightMap {
 
         property alias center:              _mapCircle.center
         property alias clockwiseRotation:   _mapCircle.clockwiseRotation
+        property var   activeVehicle:       _activeVehicle
 
         readonly property real defaultRadius: 30
 
+        onActiveVehicleChanged: {
+            if (!_activeVehicle) {
+                visible = false
+            }
+        }
+
         function show(coord) {
             _mapCircle.radius.rawValue = defaultRadius
             orbitMapCircle.center = coord
@@ -341,6 +372,15 @@ FlightMap {
             orbitMapCircle.visible = false
         }
 
+        function actionConfirmed() {
+            // Live orbit status is handled by telemetry so we hide here and telemetry will show again.
+            hide()
+        }
+
+        function actionCancelled() {
+            hide()
+        }
+
         function radius() {
             return _mapCircle.radius.rawValue
         }
@@ -357,7 +397,6 @@ FlightMap {
     }
 
     // Orbit telemetry visuals
-
     QGCMapCircleVisuals {
         id:             orbitTelemetryCircle
         mapControl:     parent
@@ -395,7 +434,7 @@ FlightMap {
                 onTriggered: {
                     gotoLocationItem.show(clickMenu.coord)
                     orbitMapCircle.hide()
-                    guidedActionsController.confirmAction(guidedActionsController.actionGoto, clickMenu.coord)
+                    guidedActionsController.confirmAction(guidedActionsController.actionGoto, clickMenu.coord, gotoLocationItem)
                 }
             }
 
@@ -406,7 +445,7 @@ FlightMap {
                 onTriggered: {
                     orbitMapCircle.show(clickMenu.coord)
                     gotoLocationItem.hide()
-                    guidedActionsController.confirmAction(guidedActionsController.actionOrbit, clickMenu.coord)
+                    guidedActionsController.confirmAction(guidedActionsController.actionOrbit, clickMenu.coord, orbitMapCircle)
                 }
             }
         }

src/FlightDisplay/GuidedActionConfirm.qml

@@ -34,16 +34,14 @@ Rectangle {
     property int    action
     property var    actionData
     property bool   hideTrigger:        false
+    property var    mapIndicator
 
     property real _margins:         ScreenTools.defaultFontPixelWidth
     property bool _emergencyAction: action === guidedController.actionEmergencyStop
 
     onHideTriggerChanged: {
         if (hideTrigger) {
-            hideTrigger = false
-            altitudeSlider.visible = false
-            visibleTimer.stop()
-            visible = false
+            confirmCancelled()
         }
     }
 
@@ -57,6 +55,17 @@ Rectangle {
         }
     }
 
+    function confirmCancelled() {
+        altitudeSlider.visible = false
+        visible = false
+        hideTrigger = false
+        visibleTimer.stop()
+        if (mapIndicator) {
+            mapIndicator.actionCancelled()
+            mapIndicator = undefined
+        }
+    }
+
     Timer {
         id:             visibleTimer
         interval:       1000
@@ -107,12 +116,10 @@ Rectangle {
                 }
                 hideTrigger = false
                 guidedController.executeAction(_root.action, _root.actionData, altitudeChange)
-            }
-
-            onReject: {
-                altitudeSlider.visible = false
-                _root.visible = false
-                hideTrigger = false
+                if (mapIndicator) {
+                    mapIndicator.actionConfirmed()
+                    mapIndicator = undefined
+                }
             }
         }
     }
@@ -127,12 +134,10 @@ Rectangle {
         source:             "/res/XDelete.svg"
         fillMode:           Image.PreserveAspectFit
         color:              qgcPal.text
+
         QGCMouseArea {
             fillItem:   parent
-            onClicked: {
-                altitudeSlider.visible = false
-                _root.visible = false
-            }
+            onClicked:  confirmCancelled()
         }
     }
 }

src/FlightDisplay/GuidedActionsController.qml

@@ -209,12 +209,13 @@ Item {
     }
 
     // Called when an action is about to be executed in order to confirm
-    function confirmAction(actionCode, actionData) {
+    function confirmAction(actionCode, actionData, mapIndicator) {
         var showImmediate = true
         closeAll()
         confirmDialog.action = actionCode
         confirmDialog.actionData = actionData
         confirmDialog.hideTrigger = true
+        confirmDialog.mapIndicator = mapIndicator
         _actionData = actionData
         switch (actionCode) {
         case actionArm:
@@ -385,7 +386,6 @@ Item {
             break
         case actionOrbit:
             _activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius() * (orbitMapCircle.clockwiseRotation ? 1 : -1), _activeVehicle.altitudeAMSL.rawValue + actionAltitudeChange)
-            orbitMapCircle.hide()
             break
         case actionLandAbort:
             _activeVehicle.abortLanding(50)     // hardcoded value for climbOutAltitude that is currently ignored

src/FlightDisplay/VideoManager.cc

@@ -35,6 +35,7 @@ QGC_LOGGING_CATEGORY(VideoManagerLog, "VideoManagerLog")
 VideoManager::VideoManager(QGCApplication* app, QGCToolbox* toolbox)
     : QGCTool(app, toolbox)
 {
+    _streamInfo = {};
 }
 
 //-----------------------------------------------------------------------------
@@ -164,7 +165,8 @@ VideoManager::isGStreamer()
         videoSource == VideoSettings::videoSourceUDP ||
         videoSource == VideoSettings::videoSourceRTSP ||
         videoSource == VideoSettings::videoSourceAuto ||
-        videoSource == VideoSettings::videoSourceTCP;
+        videoSource == VideoSettings::videoSourceTCP ||
+        videoSource == VideoSettings::videoSourceMPEGTS;
 #else
     return false;
 #endif
@@ -197,14 +199,33 @@ VideoManager::_updateSettings()
 {
     if(!_videoSettings || !_videoReceiver)
         return;
-    if (_videoSettings->videoSource()->rawValue().toString() == VideoSettings::videoSourceUDP)
+    QString source = _videoSettings->videoSource()->rawValue().toString();
+    if (source == VideoSettings::videoSourceUDP)
         _videoReceiver->setUri(QStringLiteral("udp://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
-    else if (_videoSettings->videoSource()->rawValue().toString() == VideoSettings::videoSourceRTSP)
+    else if (source == VideoSettings::videoSourceMPEGTS)
+        _videoReceiver->setUri(QStringLiteral("mpegts://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
+    else if (source == VideoSettings::videoSourceRTSP)
         _videoReceiver->setUri(_videoSettings->rtspUrl()->rawValue().toString());
-    else if (_videoSettings->videoSource()->rawValue().toString() == VideoSettings::videoSourceTCP)
+    else if (source == VideoSettings::videoSourceTCP)
         _videoReceiver->setUri(QStringLiteral("tcp://%1").arg(_videoSettings->tcpUrl()->rawValue().toString()));
-    else if (isAutoStream())
-        _videoReceiver->setUri(QString(_streamInfo.uri));
+    //-- Auto discovery
+    else if (isAutoStream()) {
+        switch(_streamInfo.type) {
+            case VIDEO_STREAM_TYPE_RTSP:
+            case VIDEO_STREAM_TYPE_TCP_MPEG:
+                _videoReceiver->setUri(QString(_streamInfo.uri));
+                break;
+            case VIDEO_STREAM_TYPE_RTPUDP:
+                _videoReceiver->setUri(QStringLiteral("udp://0.0.0.0:%1").arg(atoi(_streamInfo.uri)));
+                break;
+            case VIDEO_STREAM_TYPE_MPEG_TS_H264:
+                _videoReceiver->setUri(QStringLiteral("mpegts://0.0.0.0:%1").arg(atoi(_streamInfo.uri)));
+                break;
+            default:
+                _videoReceiver->setUri(QString(_streamInfo.uri));
+                break;
+        }
+    }
 }
 
 //-----------------------------------------------------------------------------
@@ -212,6 +233,7 @@ void
 VideoManager::_restartVideo()
 {
 #if defined(QGC_GST_STREAMING)
+    qCDebug(VideoManagerLog) << "Restart video streaming";
     if(!_videoReceiver)
         return;
     _videoReceiver->stop();
@@ -240,7 +262,7 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle)
             MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION,             // Command id
             false,                                                // ShowError
             1,                                                    // First camera only
-            0);                                                   // Reserved (Set to 0)
+            1);                                                   // Request video stream information
     }
 }
 

src/FlightDisplay/VideoManager.h

@@ -61,7 +61,7 @@ public:
 #endif
 
     void        setfullScreen       (bool f) { _fullScreen = f; emit fullScreenChanged(); }
-    void        setIsTaisync        (bool t) { _isTaisync = t; emit isTaisyncChanged(); }
+    void        setIsTaisync        (bool t) { _isTaisync = t;  emit isTaisyncChanged(); }
 
     // Override from QGCTool
     void        setToolbox          (QGCToolbox *toolbox);

src/MissionManager/CameraCalc.FactMetaData.json

@@ -18,7 +18,7 @@
     "min":              0.1,
     "units":            "m",
     "decimalPlaces":    2,
-    "defaultValue":     10.0
+    "defaultValue":     50.0
 },
 {
     "name":             "ImageDensity",
@@ -27,7 +27,7 @@
     "min":              0,
     "units":            "cm/px",
     "decimalPlaces":    1,
-    "defaultValue":     25
+    "defaultValue":     1.2
 },
 {
     "name":             "FrontalOverlap",

src/MissionManager/CameraCalc.cc

@@ -127,8 +127,8 @@ void CameraCalc::_cameraNameChanged(void)
             // These values are unknown for these types
             fixedOrientation()->setRawValue(false);
             minTriggerInterval()->setRawValue(0);
-            if (isManualCamera()) {
-                valueSetIsDistance()->setRawValue(false);
+            if (isManualCamera() && !valueSetIsDistance()->rawValue().toBool()) {
+                valueSetIsDistance()->setRawValue(true);
             }
         } else {
             qWarning() << "Internal Error: Not known camera, but now manual or custom either";

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -373,7 +373,7 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, b
     MissionItem& missionItemLand = item->missionItem();
     if (missionItemLand.command() != MAV_CMD_NAV_LAND ||
             !(missionItemLand.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT || missionItemLand.frame() == MAV_FRAME_GLOBAL) ||
-            missionItemLand.param1() != 0 || missionItemLand.param2() != 0 || missionItemLand.param3() != 0 || missionItemLand.param4() == 1.0) {
+            missionItemLand.param1() != 0 || missionItemLand.param2() != 0 || missionItemLand.param3() != 0 || missionItemLand.param4() != 0) {
         return false;
     }
     MAV_FRAME landPointFrame = missionItemLand.frame();
@@ -414,6 +414,7 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, b
     }
     MissionItem& missionItemDoLandStart = item->missionItem();
     if (missionItemDoLandStart.command() != MAV_CMD_DO_LAND_START ||
+            missionItemDoLandStart.frame() != MAV_FRAME_MISSION ||
             missionItemDoLandStart.param1() != 0 || missionItemDoLandStart.param2() != 0 || missionItemDoLandStart.param3() != 0 || missionItemDoLandStart.param4() != 0|| missionItemDoLandStart.param5() != 0|| missionItemDoLandStart.param6() != 0) {
         return false;
     }

src/MissionManager/MissionController.cc

@@ -29,6 +29,7 @@
 #include "QGCQGeoCoordinate.h"
 #include "PlanMasterController.h"
 #include "KML.h"
+#include "QGCCorePlugin.h"
 
 #ifndef __mobile__
 #include "MainWindow.h"
@@ -55,23 +56,24 @@ const char* MissionController::_jsonMavAutopilotKey =           "MAV_AUTOPILOT";
 
 const int   MissionController::_missionFileVersion =            2;
 
+const QString MissionController::patternFWLandingName      (tr("Fixed Wing Landing"));
+const QString MissionController::patternStructureScanName  (tr("Structure Scan"));
+const QString MissionController::patternCorridorScanName   (tr("Corridor Scan"));
+
 MissionController::MissionController(PlanMasterController* masterController, QObject *parent)
-    : PlanElementController         (masterController, parent)
-    , _missionManager               (_managerVehicle->missionManager())
-    , _missionItemCount             (0)
-    , _visualItems                  (nullptr)
-    , _settingsItem                 (nullptr)
-    , _firstItemsFromVehicle        (false)
-    , _itemsRequested               (false)
-    , _inRecalcSequence             (false)
-    , _surveyMissionItemName        (tr("Survey"))
-    , _fwLandingMissionItemName     (tr("Fixed Wing Landing"))
-    , _structureScanMissionItemName (tr("Structure Scan"))
-    , _corridorScanMissionItemName  (tr("Corridor Scan"))
-    , _appSettings                  (qgcApp()->toolbox()->settingsManager()->appSettings())
-    , _progressPct                  (0)
-    , _currentPlanViewIndex         (-1)
-    , _currentPlanViewItem          (nullptr)
+    : PlanElementController     (masterController, parent)
+    , _missionManager           (_managerVehicle->missionManager())
+    , _missionItemCount         (0)
+    , _visualItems              (nullptr)
+    , _settingsItem             (nullptr)
+    , _firstItemsFromVehicle    (false)
+    , _itemsRequested           (false)
+    , _inRecalcSequence         (false)
+    , _surveyMissionItemName    (tr("Survey"))
+    , _appSettings              (qgcApp()->toolbox()->settingsManager()->appSettings())
+    , _progressPct              (0)
+    , _currentPlanViewIndex     (-1)
+    , _currentPlanViewItem      (nullptr)
 {
     _resetMissionFlightStatus();
     managerVehicleChanged(_managerVehicle);
@@ -414,11 +416,11 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
     if (itemName == _surveyMissionItemName) {
         newItem = new SurveyComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */);
         newItem->setCoordinate(mapCenterCoordinate);
-    } else if (itemName == _fwLandingMissionItemName) {
+    } else if (itemName == patternFWLandingName) {
         newItem = new FixedWingLandingComplexItem(_controllerVehicle, _flyView, _visualItems /* parent */);
-    } else if (itemName == _structureScanMissionItemName) {
+    } else if (itemName == patternStructureScanName) {
         newItem = new StructureScanComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */);
-    } else if (itemName == _corridorScanMissionItemName) {
+    } else if (itemName == patternCorridorScanName) {
         newItem = new CorridorScanComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */);
     } else {
         qWarning() << "Internal error: Unknown complex item:" << itemName;
@@ -434,9 +436,9 @@ int MissionController::insertComplexMissionItemFromKMLOrSHP(QString itemName, QS
 
     if (itemName == _surveyMissionItemName) {
         newItem = new SurveyComplexItem(_controllerVehicle, _flyView, file, _visualItems);
-    } else if (itemName == _structureScanMissionItemName) {
+    } else if (itemName == patternStructureScanName) {
         newItem = new StructureScanComplexItem(_controllerVehicle, _flyView, file, _visualItems);
-    } else if (itemName == _corridorScanMissionItemName) {
+    } else if (itemName == patternCorridorScanName) {
         newItem = new CorridorScanComplexItem(_controllerVehicle, _flyView, file, _visualItems);
     } else {
         qWarning() << "Internal error: Unknown complex item:" << itemName;
@@ -1951,15 +1953,15 @@ QStringList MissionController::complexMissionItemNames(void) const
     QStringList complexItems;
 
     complexItems.append(_surveyMissionItemName);
-    complexItems.append(_corridorScanMissionItemName);
+    complexItems.append(patternCorridorScanName);
     if (_controllerVehicle->fixedWing()) {
-        complexItems.append(_fwLandingMissionItemName);
+        complexItems.append(patternFWLandingName);
     }
     if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
-        complexItems.append(_structureScanMissionItemName);
+        complexItems.append(patternStructureScanName);
     }
 
-    return complexItems;
+    return qgcApp()->toolbox()->corePlugin()->complexMissionItemNames(_controllerVehicle, complexItems);
 }
 
 void MissionController::resumeMission(int resumeIndex)

src/MissionManager/MissionController.h

@@ -175,8 +175,8 @@ public:
     VisualMissionItem*  currentPlanViewItem         (void) const;
     double              progressPct                 (void) const { return _progressPct; }
     QString             surveyComplexItemName       (void) const { return _surveyMissionItemName; }
-    QString             corridorScanComplexItemName (void) const { return _corridorScanMissionItemName; }
-    QString             structureScanComplexItemName(void) const { return _structureScanMissionItemName; }
+    QString             corridorScanComplexItemName (void) const { return patternCorridorScanName; }
+    QString             structureScanComplexItemName(void) const { return patternStructureScanName; }
 
     int missionItemCount            (void) const { return _missionItemCount; }
     int currentMissionIndex         (void) const;
@@ -194,6 +194,12 @@ public:
     int  batteryChangePoint         (void) const { return _missionFlightStatus.batteryChangePoint; }    ///< -1 for not supported, 0 for not needed
     int  batteriesRequired          (void) const { return _missionFlightStatus.batteriesRequired; }     ///< -1 for not supported
 
+    // These are the names shown in the UI for the pattern items. They are public so custom builds can remove the ones
+    // they don't want through the QGCCorePlugin::
+    static const QString patternFWLandingName;
+    static const QString patternStructureScanName;
+    static const QString patternCorridorScanName;
+
 signals:
     void visualItemsChanged             (void);
     void waypointLinesChanged           (void);
@@ -285,9 +291,6 @@ private:
     bool                    _inRecalcSequence;
     MissionFlightStatus_t   _missionFlightStatus;
     QString                 _surveyMissionItemName;
-    QString                 _fwLandingMissionItemName;
-    QString                 _structureScanMissionItemName;
-    QString                 _corridorScanMissionItemName;
     AppSettings*            _appSettings;
     double                  _progressPct;
     int                     _currentPlanViewIndex;

src/MissionManager/QGCMapCircle.Facts.json

@@ -3,7 +3,7 @@
     "name":             "Radius",
     "shortDescription": "Radius for geofence circle.",
     "type":             "double",
-    "decimalPlaces":    2,
+    "decimalPlaces":    1,
     "min":              0.1,
     "units":            "m"
 }

src/PlanView/MissionItemEditor.qml

@@ -15,7 +15,7 @@ import QGroundControl.Palette       1.0
 /// Mission item edit control
 Rectangle {
     id:     _root
-    height: editorLoader.y + (editorLoader.visible ? editorLoader.height : 0) + (_margin * 2)
+    height: editorLoader.visible ? (editorLoader.y + editorLoader.height + (_margin * 2)) : (commandPicker.y + commandPicker.height + _margin / 2)
     color:  _currentItem ? qgcPal.missionItemEditor : qgcPal.windowShade
     radius: _radius
 
@@ -90,8 +90,7 @@ Rectangle {
         sourceSize.height:      _hamburgerSize
         source:                 "qrc:/qmlimages/Hamburger.svg"
         visible:                missionItem.isCurrentItem && missionItem.sequenceNumber !== 0
-        color:                  qgcPal.windowShade
-
+        color:                  qgcPal.text
     }
 
     QGCMouseArea {

src/PlanView/PlanView.qml

@@ -760,14 +760,6 @@ QGCView {
                                 anchors.left:           parent.left
                                 anchors.leftMargin:     ScreenTools.defaultFontPixelWidth
                                 readonly property real _buttonRadius: ScreenTools.defaultFontPixelHeight * 0.75
-                                QGCColoredImage {
-                                    width:                  height
-                                    height:                 ScreenTools.defaultFontPixelWidth * 2.5
-                                    sourceSize.height:      height
-                                    source:                 "qrc:/res/waypoint.svg"
-                                    color:                  qgcPal.text
-                                    anchors.verticalCenter: parent.verticalCenter
-                                }
                                 QGCLabel {
                                     text:           qsTr("Plan")
                                     color:          qgcPal.text
@@ -831,7 +823,7 @@ QGCView {
                 QGCListView {
                     id:             missionItemEditorListView
                     anchors.fill:   parent
-                    spacing:        ScreenTools.defaultFontPixelHeight * 0.5
+                    spacing:        ScreenTools.defaultFontPixelHeight / 4
                     orientation:    ListView.Vertical
                     model:          _missionController.visualItems
                     cacheBuffer:    Math.max(height * 2, 0)
@@ -865,9 +857,9 @@ QGCView {
             GeoFenceEditor {
                 anchors.top:            rightControls.bottom
                 anchors.topMargin:      ScreenTools.defaultFontPixelHeight * 0.5
+                anchors.bottom:         parent.bottom
                 anchors.left:           parent.left
                 anchors.right:          parent.right
-                availableHeight:        ScreenTools.availableHeight
                 myGeoFenceController:   _geoFenceController
                 flightMap:              editorMap
                 visible:                _editingLayer == _layerGeoFence

src/PlanView/RallyPointItemEditor.qml

@@ -50,7 +50,7 @@ Rectangle {
             color:                  _outerTextColor
         }
 
-        Image {
+        QGCColoredImage {
             id:                     hamburger
             anchors.rightMargin:    _margin
             anchors.right:          parent.right
@@ -59,6 +59,7 @@ Rectangle {
             height:                 width
             sourceSize.height:      height
             source:                 "qrc:/qmlimages/Hamburger.svg"
+            color:                  qgcPal.text
 
             MouseArea {
                 anchors.fill:   parent

src/PlanView/SimpleItemEditor.qml

@@ -18,23 +18,46 @@ Rectangle {
     color:  qgcPal.windowShadeDark
     radius: _radius
 
-    property bool _specifiesAltitude:       missionItem.specifiesAltitude
-    property real _margin:                  ScreenTools.defaultFontPixelHeight / 2
-    property bool _supportsTerrainFrame:    missionItem
-
     readonly property int _altModeRelative:     0
     readonly property int _altModeAbsolute:     1
     readonly property int _altModeAboveTerrain: 2
     readonly property int _altModeTerrainFrame: 3
 
-    ExclusiveGroup {
-        id: altRadios
-        onCurrentChanged: {
-            altModeLabel.text = Qt.binding(function() { return current.helpText })
-            missionItem.altitudeMode = current.altModeValue
+    property bool _specifiesAltitude:       missionItem.specifiesAltitude
+    property real _margin:                  ScreenTools.defaultFontPixelHeight / 2
+    property bool _supportsTerrainFrame:    missionItem
+
+    property string _altModeRelativeHelpText:       qsTr("Altitude relative to home altitude")
+    property string _altModeAbsoluteHelpText:       qsTr("Altitude above mean sea level")
+    property string _altModeAboveTerrainHelpText:   qsTr("Altitude above terrain\nActual AMSL altitude: %1 %2").arg(missionItem.amslAltAboveTerrain.valueString).arg(missionItem.amslAltAboveTerrain.units)
+    property string _altModeTerrainFrameHelpText:   qsTr("Using terrain reference frame")
+
+    function updateAltitudeModeText() {
+        if (missionItem.altitudeMode === _altModeRelative) {
+            altModeLabel.text = qsTr("Altitude")
+            altModeHelp.text = _altModeRelativeHelpText
+        } else if (missionItem.altitudeMode === _altModeAbsolute) {
+            altModeLabel.text = qsTr("Above Mean Sea Level")
+            altModeHelp.text = _altModeAbsoluteHelpText
+        } else if (missionItem.altitudeMode === _altModeAboveTerrain) {
+            altModeLabel.text = qsTr("Above Terrain")
+            altModeHelp.text = Qt.binding(function() { return _altModeAboveTerrainHelpText })
+        } else if (missionItem.altitudeMode === _altModeTerrainFrame) {
+            altModeLabel.text = qsTr("Terrain Frame")
+            altModeHelp.text = _altModeTerrainFrameHelpText
+        } else {
+            altModeLabel.text = qsTr("Internal Error")
+            altModeHelp.text = ""
         }
     }
 
+    Component.onCompleted: updateAltitudeModeText()
+
+    Connections {
+        target:                 missionItem
+        onAltitudeModeChanged:  updateAltitudeModeText()
+    }
+
     Column {
         id:                 valuesColumn
         anchors.margins:    _margin
@@ -97,56 +120,70 @@ Rectangle {
                 anchors.right:      parent.right
                 spacing:            _margin
 
-                QGCLabel {
-                    font.pointSize: ScreenTools.smallFontPointSize
-                    text:           qsTr("Altitude")
-                }
-
-                RowLayout {
-                    QGCRadioButton {
-                        text:           qsTr("Rel")
-                        exclusiveGroup: altRadios
-                        checked:        missionItem.altitudeMode === altModeValue
-
-                        readonly property int       altModeValue:   _altModeRelative
-                        readonly property string    helpText:       qsTr("Relative to home altitude")
-					}
-                    QGCRadioButton {
-                        text:           qsTr("AMSL")
-                        exclusiveGroup: altRadios
-                        checked:        missionItem.altitudeMode === altModeValue
-                        visible:        QGroundControl.corePlugin.options.showMissionAbsoluteAltitude || missionItem.altitudeMode === altModeValue
-
-                        readonly property int       altModeValue:   _altModeAbsolute
-                        readonly property string    helpText:       qsTr("Above Mean Sea Level")
+                Item {
+                    width:  altHamburger.x + altHamburger.width
+                    height: altModeLabel.height
+
+                    QGCLabel { id: altModeLabel }
+
+                    QGCColoredImage {
+                        id:                     altHamburger
+                        anchors.leftMargin:     ScreenTools.defaultFontPixelWidth / 4
+                        anchors.left:           altModeLabel.right
+                        anchors.top:            altModeLabel.top
+                        width:                  height
+                        height:                 altModeLabel.height
+                        sourceSize.height:      height
+                        source:                 "qrc:/qmlimages/Hamburger.svg"
+                        color:                  qgcPal.text
                     }
-                    QGCRadioButton {
-                        text:           qsTr("AGL")
-                        exclusiveGroup: altRadios
-                        checked:        missionItem.altitudeMode === altModeValue
 
-                        readonly property int   altModeValue: _altModeAboveTerrain
-                        property string         helpText:     qsTr("Calculated from terrain data\nAMSL Alt ") + missionItem.amslAltAboveTerrain.valueString + " " + missionItem.amslAltAboveTerrain.units
+                    QGCMouseArea {
+                        anchors.fill:   parent
+                        onClicked:      altHamburgerMenu.popup()
                     }
-                    QGCRadioButton {
-                        text:           qsTr("TerrF")
-                        exclusiveGroup: altRadios
-                        checked:        missionItem.altitudeMode === altModeValue
-                        visible:        missionItem.altitudeMode === altModeValue
-
-                        readonly property int       altModeValue:   _altModeTerrainFrame
-                        readonly property string    helpText:       qsTr("Using terrain reference frame")
+
+                    Menu {
+                        id: altHamburgerMenu
+
+                        MenuItem {
+                            text:           qsTr("Altitude Relative To Home")
+                            checkable:      true
+                            checked:        missionItem.altitudeMode === _altModeRelative
+                            onTriggered:    missionItem.altitudeMode = _altModeRelative
+                        }
+
+                        MenuItem {
+                            text:           qsTr("Altitude Above Mean Sea Level")
+                            checkable:      true
+                            checked:        missionItem.altitudeMode === _altModeAbsolute
+                            visible:        QGroundControl.corePlugin.options.showMissionAbsoluteAltitude
+                            onTriggered:    missionItem.altitudeMode = _altModeAbsolute
+                        }
+
+                        MenuItem {
+                            text:           qsTr("Altitude Above Terrain")
+                            checkable:      true
+                            checked:        missionItem.altitudeMode === _altModeAboveTerrain
+                            onTriggered:    missionItem.altitudeMode = _altModeAboveTerrain
+                        }
+
+                        MenuItem {
+                            text:           qsTr("Terrain Frame")
+                            checkable:      true
+                            checked:        missionItem.altitudeMode === _altModeTerrainFrame
+                            visible:        missionItem.altitudeMode === _altModeTerrainFrame
+                            onTriggered:    missionItem.altitudeMode = _altModeTerrainFrame
+                        }
                     }
                 }
 
-                FactValueSlider {
-                    fact:           missionItem.altitude
-                    digitCount:     3
-                    incrementSlots: 1
+                FactTextField {
+                    fact: missionItem.altitude
                 }
 
                 QGCLabel {
-                    id:             altModeLabel
+                    id:             altModeHelp
                     anchors.left:   parent.left
                     anchors.right:  parent.right
                     wrapMode:       Text.WordWrap

src/PositionManager/PositionManager.cpp

@@ -36,7 +36,6 @@ void QGCPositionManager::setToolbox(QGCToolbox *toolbox)
    if(!_defaultSource) {
        //-- Otherwise, create a default one
        _defaultSource = QGeoPositionInfoSource::createDefaultSource(this);
-       qDebug() << _defaultSource;
    }
    _simulatedSource = new SimulatedPosition();
 

src/QmlControls/QGCCheckBox.qml

@@ -6,96 +6,50 @@ import QGroundControl.Palette       1.0
 import QGroundControl.ScreenTools   1.0
 
 CheckBox {
-    activeFocusOnPress: true
+    property color  textColor:          _qgcPal.text
+    property bool   textBold:           false
+    property real   textFontPointSize:  ScreenTools.defaultFontPointSize
+
+    property var    _qgcPal: QGCPalette { colorGroupEnabled: enabled }
+    property bool   _noText: text === ""
+    property real   _radius: ScreenTools.defaultFontPixelHeight * 0.16
 
-    property var __qgcPal: QGCPalette { colorGroupEnabled: enabled }
+    activeFocusOnPress: true
 
     style: CheckBoxStyle {
         label: Item {
-            implicitWidth:  text.implicitWidth + 2
-            implicitHeight: ScreenTools.implicitCheckBoxHeight
+            implicitWidth:  _noText ? 0 : text.implicitWidth + ScreenTools.defaultFontPixelWidth * 0.25
+            implicitHeight: _noText ? 0 : Math.max(text.implicitHeight, ScreenTools.checkBoxIndicatorSize)
             baselineOffset: text.baselineOffset
 
-            Rectangle {
-                anchors.margins:    -1
-                anchors.leftMargin: -3
-                anchors.rightMargin: -3
-                anchors.fill:       text
-                visible:            control.activeFocus
-                height:             6
-                radius:             3
-                color:              "#224f9fef"
-                border.color:       "#47b"
-                opacity:            0.6
-            }
-
             Text {
-                id:             text
-                text:           control.text
-                antialiasing:   true
-                font.pointSize: ScreenTools.defaultFontPointSize
-                font.family:    ScreenTools.normalFontFamily
-                color:          control.__qgcPal.text
-                anchors.verticalCenter: parent.verticalCenter
+                id:                 text
+                text:               control.text
+                font.pointSize:     textFontPointSize
+                font.bold:          control.textBold
+                color:              control.textColor
+                anchors.centerIn:   parent
             }
-        } // label
+        }
 
         indicator:  Item {
             implicitWidth:  ScreenTools.checkBoxIndicatorSize
             implicitHeight: implicitWidth
 
             Rectangle {
-                anchors.fill: parent
-                anchors.bottomMargin: -1
-                color: "#44ffffff"
-                radius: baserect.radius
-            }
-
-            Rectangle {
-                id: baserect
-                property var enabledGradient: Gradient {
-                    GradientStop {color: "#eee" ; position: 0}
-                    GradientStop {color: control.pressed ? "#eee" : "#fff" ; position: 0.1}
-                    GradientStop {color: "#fff" ; position: 1}
-                }
-                property var disabledGradient: Gradient {
-                    GradientStop {color: "#999" ; position: 0}
-                    GradientStop {color: __qgcPal.textField ; position: 0.1}
-                    GradientStop {color: __qgcPal.textField ; position: 0.9}
-                    GradientStop {color: "#999" ; position: 1}
-                }
-                gradient: control.enabled ? enabledGradient : disabledGradient
-
-
-                radius: ScreenTools.defaultFontPixelHeight * 0.16
-                anchors.fill: parent
-                border.color: control.activeFocus ? "#47b" : "#999"
-                opacity: control.enabled ? 1 : 0.5
-            }
-
-            Image {
-                source: "/qmlimages/check.png"
-                opacity: control.checkedState === Qt.Checked ? control.enabled ? 1 : 0.5 : 0
-                anchors.centerIn: parent
-                anchors.verticalCenterOffset: 1
-                Behavior on opacity {NumberAnimation {duration: 80}}
-            }
-
-            Rectangle {
-                anchors.fill: parent
-                anchors.margins: Math.round(baserect.radius)
-                antialiasing: true
-                gradient: Gradient {
-                    GradientStop {color: control.pressed ? "#555" : "#999" ; position: 0}
-                    GradientStop {color: "#555" ; position: 1}
+                anchors.fill:   parent
+                radius:         _radius
+                border.color:   "black"
+                opacity:        control.checkedState === Qt.PartiallyChecked ? 0.5 : 1
+
+                Rectangle {
+                    anchors.margins:    parent.height / 4
+                    anchors.fill:       parent
+                    radius:             _radius
+                    color:              "black"
+                    visible:            control.checkedState === Qt.Checked
                 }
-                radius: baserect.radius - 1
-                anchors.centerIn: parent
-                anchors.alignWhenCentered: true
-                border.color: "#222"
-                Behavior on opacity {NumberAnimation {duration: 80}}
-                opacity: control.checkedState === Qt.PartiallyChecked ? control.enabled ? 1 : 0.5 : 0
             }
-        } // indicator
-    } // style
+        }
+    }
 }

src/QmlControls/QGCMouseArea.qml

-import QtQuick 2.3
+import QtQuick 2.11
 
 import QGroundControl               1.0
 import QGroundControl.ScreenTools   1.0

src/QmlControls/QGCRadioButton.qml

@@ -6,41 +6,30 @@ import QGroundControl.Palette       1.0
 import QGroundControl.ScreenTools   1.0
 
 RadioButton {
-    property var    color:          qgcPal.text    ///< Text color
-    property int    textStyle:      Text.Normal
-    property color  textStyleColor: qgcPal.text
-    property bool   textBold:       false
-    property var    qgcPal:         QGCPalette { colorGroupEnabled: enabled }
+    property color  textColor:          _qgcPal.text
+    property bool   textBold:           false
+    property real   textFontPointSize:  ScreenTools.defaultFontPointSize
+
+    property var    _qgcPal:             QGCPalette { colorGroupEnabled: enabled }
+
+    property bool _noText: text === ""
+
+    activeFocusOnPress: true
 
     style: RadioButtonStyle {
+        spacing: _noText ? 0 : ScreenTools.defaultFontPixelWidth / 2
+
         label: Item {
-            implicitWidth:          text.implicitWidth + ScreenTools.defaultFontPixelWidth * 0.25
-            implicitHeight:         ScreenTools.implicitRadioButtonHeight
+            implicitWidth:          _noText ? 0 : text.implicitWidth + ScreenTools.defaultFontPixelWidth * 0.25
+            implicitHeight:         _noText ? 0 : Math.max(text.implicitHeight, ScreenTools.radioButtonIndicatorSize)
             baselineOffset:         text.y + text.baselineOffset
 
-            Rectangle {
-                anchors.fill:       text
-                anchors.margins:    -1
-                anchors.leftMargin: -3
-                anchors.rightMargin:-3
-                visible:            control.activeFocus
-                height:             ScreenTools.defaultFontPixelWidth * 0.25
-                radius:             height * 0.5
-                color:              "#224f9fef"
-                border.color:       "#47b"
-                opacity:            0.6
-            }
-
             Text {
                 id:                 text
                 text:               control.text
-                font.pointSize:     ScreenTools.defaultFontPointSize
-                font.family:        ScreenTools.normalFontFamily
+                font.pointSize:     textFontPointSize
                 font.bold:          control.textBold
-                antialiasing:       true
-                color:              control.color
-                style:              control.textStyle
-                styleColor:         control.textStyleColor
+                color:              control.textColor
                 anchors.centerIn:   parent
             }
         }
@@ -49,9 +38,9 @@ RadioButton {
             width:          ScreenTools.radioButtonIndicatorSize
             height:         width
             color:          "white"
-            border.color:   control.qgcPal.text
-            antialiasing:   true
+            border.color:   "black"
             radius:         height / 2
+            opacity:        control.enabled ? 1 : 0.5
 
             Rectangle {
                 anchors.centerIn:   parent
@@ -60,7 +49,7 @@ RadioButton {
                 antialiasing:       true
                 radius:             height / 2
                 color:              "black"
-                opacity:            control.checked ? (control.enabled ? 1 : 0.5) : 0
+                visible:            control.checked
             }
         }
     }

src/QmlControls/SliderSwitch.qml

@@ -14,7 +14,6 @@ Rectangle {
     color:          qgcPal.windowShade
 
     signal accept   ///< Action confirmed
-    signal reject   ///< Action rejected
 
     property string confirmText                         ///< Text for slider
     property alias  fontPointSize: label.font.pointSize ///< Point size for text
@@ -70,12 +69,6 @@ Rectangle {
         property bool dragActive:   drag.active
         property real _dragOffset:  1
 
-        //Component.onCompleted: console.log(height, ScreenTools.minTouchPixels)
-
-        onPressed: {
-            mouse.x
-        }
-
         onDragActiveChanged: {
             if (!sliderDragArea.drag.active) {
                 if (slider.x > _maxXDrag - _border) {

src/Settings/VideoSettings.cc

@@ -25,6 +25,7 @@ const char* VideoSettings::videoSourceAuto      = "Automatic Video Stream";
 const char* VideoSettings::videoSourceRTSP      = "RTSP Video Stream";
 const char* VideoSettings::videoSourceUDP       = "UDP Video Stream";
 const char* VideoSettings::videoSourceTCP       = "TCP-MPEG2 Video Stream";
+const char* VideoSettings::videoSourceMPEGTS    = "MPEG-TS (h.264) Video Stream";
 
 DECLARE_SETTINGGROUP(Video, "Video")
 {
@@ -40,6 +41,7 @@ DECLARE_SETTINGGROUP(Video, "Video")
     videoSourceList.append(videoSourceUDP);
 #endif
     videoSourceList.append(videoSourceTCP);
+    videoSourceList.append(videoSourceMPEGTS);
 #endif
 #ifndef QGC_DISABLE_UVC
     QList<QCameraInfo> cameras = QCameraInfo::availableCameras();
@@ -150,6 +152,11 @@ bool VideoSettings::streamConfigured(void)
         qCDebug(VideoManagerLog) << "Testing configuration for TCP Stream:" << tcpUrl()->rawValue().toString();
         return !tcpUrl()->rawValue().toString().isEmpty();
     }
+    //-- If MPEG-TS, check if port is set
+    if(vSource == videoSourceMPEGTS) {
+        qCDebug(VideoManagerLog) << "Testing configuration for MPEG-TS Stream:" << udpPort()->rawValue().toInt();
+        return udpPort()->rawValue().toInt() != 0;
+    }
     //-- If Auto, check for received URL
     if(vSource == videoSourceAuto) {
         qCDebug(VideoManagerLog) << "Testing configuration for Auto Stream:" << qgcApp()->toolbox()->videoManager()->autoURL();

src/Settings/VideoSettings.h

@@ -40,12 +40,14 @@ public:
     Q_PROPERTY(QString  rtspVideoSource         READ rtspVideoSource        CONSTANT)
     Q_PROPERTY(QString  udpVideoSource          READ udpVideoSource         CONSTANT)
     Q_PROPERTY(QString  tcpVideoSource          READ tcpVideoSource         CONSTANT)
+    Q_PROPERTY(QString  mpegtsVideoSource       READ mpegtsVideoSource      CONSTANT)
 
     bool     streamConfigured       ();
     QString  autoVideoSource        () { return videoSourceAuto; }
     QString  rtspVideoSource        () { return videoSourceRTSP; }
     QString  udpVideoSource         () { return videoSourceUDP; }
     QString  tcpVideoSource         () { return videoSourceTCP; }
+    QString  mpegtsVideoSource      () { return videoSourceMPEGTS; }
 
     static const char* videoSourceNoVideo;
     static const char* videoDisabled;
@@ -53,6 +55,7 @@ public:
     static const char* videoSourceRTSP;
     static const char* videoSourceAuto;
     static const char* videoSourceTCP;
+    static const char* videoSourceMPEGTS;
 
 signals:
     void streamConfiguredChanged    ();

src/Vehicle/Vehicle.cc

@@ -2962,6 +2962,11 @@ bool Vehicle::takeoffVehicleSupported() const
     return _firmwarePlugin->isCapable(this, FirmwarePlugin::TakeoffVehicleCapability);
 }
 
+QString Vehicle::gotoFlightMode() const
+{
+    return _firmwarePlugin->gotoFlightMode();
+}
+
 void Vehicle::guidedModeRTL(void)
 {
     if (!guidedModeSupported()) {

src/Vehicle/Vehicle.h

@@ -636,13 +636,14 @@ public:
     Q_PROPERTY(QGCMapCircle*    orbitMapCircle  READ orbitMapCircle     CONSTANT)
 
     // Vehicle state used for guided control
-    Q_PROPERTY(bool flying                  READ flying NOTIFY flyingChanged)                               ///< Vehicle is flying
-    Q_PROPERTY(bool landing                 READ landing NOTIFY landingChanged)                             ///< Vehicle is in landing pattern (DO_LAND_START)
-    Q_PROPERTY(bool guidedMode              READ guidedMode WRITE setGuidedMode NOTIFY guidedModeChanged)   ///< Vehicle is in Guided mode and can respond to guided commands
-    Q_PROPERTY(bool guidedModeSupported     READ guidedModeSupported CONSTANT)                              ///< Guided mode commands are supported by this vehicle
-    Q_PROPERTY(bool pauseVehicleSupported   READ pauseVehicleSupported CONSTANT)                            ///< Pause vehicle command is supported
-    Q_PROPERTY(bool orbitModeSupported      READ orbitModeSupported CONSTANT)                               ///< Orbit mode is supported by this vehicle
-    Q_PROPERTY(bool takeoffVehicleSupported READ takeoffVehicleSupported CONSTANT)                          ///< Guided takeoff supported
+    Q_PROPERTY(bool     flying                  READ flying                                         NOTIFY flyingChanged)       ///< Vehicle is flying
+    Q_PROPERTY(bool     landing                 READ landing                                        NOTIFY landingChanged)      ///< Vehicle is in landing pattern (DO_LAND_START)
+    Q_PROPERTY(bool     guidedMode              READ guidedMode                 WRITE setGuidedMode NOTIFY guidedModeChanged)   ///< Vehicle is in Guided mode and can respond to guided commands
+    Q_PROPERTY(bool     guidedModeSupported     READ guidedModeSupported                            CONSTANT)                   ///< Guided mode commands are supported by this vehicle
+    Q_PROPERTY(bool     pauseVehicleSupported   READ pauseVehicleSupported                          CONSTANT)                   ///< Pause vehicle command is supported
+    Q_PROPERTY(bool     orbitModeSupported      READ orbitModeSupported                             CONSTANT)                   ///< Orbit mode is supported by this vehicle
+    Q_PROPERTY(bool     takeoffVehicleSupported READ takeoffVehicleSupported                        CONSTANT)                   ///< Guided takeoff supported
+    Q_PROPERTY(QString  gotoFlightMode          READ gotoFlightMode                                 CONSTANT)                   ///< Flight mode vehicle is in while performing goto
 
     Q_PROPERTY(ParameterManager* parameterManager READ parameterManager CONSTANT)
 
@@ -761,10 +762,11 @@ public:
     ///     @param percent 0-no power, 100-full power
     Q_INVOKABLE void motorTest(int motor, int percent);
 
-    bool guidedModeSupported    (void) const;
-    bool pauseVehicleSupported  (void) const;
-    bool orbitModeSupported     (void) const;
-    bool takeoffVehicleSupported(void) const;
+    bool    guidedModeSupported     (void) const;
+    bool    pauseVehicleSupported   (void) const;
+    bool    orbitModeSupported      (void) const;
+    bool    takeoffVehicleSupported (void) const;
+    QString gotoFlightMode          (void) const;
 
     // Property accessors
 

src/VideoStreaming/VideoReceiver.cc

@@ -239,9 +239,10 @@ VideoReceiver::start()
 #else
     bool isTaisyncUSB = false;
 #endif
-    bool isUdp  = _uri.contains("udp://")  && !isTaisyncUSB;
-    bool isRtsp = _uri.contains("rtsp://") && !isTaisyncUSB;
-    bool isTCP  = _uri.contains("tcp://")  && !isTaisyncUSB;
+    bool isUdp      = _uri.contains("udp://")  && !isTaisyncUSB;
+    bool isRtsp     = _uri.contains("rtsp://") && !isTaisyncUSB;
+    bool isTCP      = _uri.contains("tcp://")  && !isTaisyncUSB;
+    bool isMPEGTS   = _uri.contains("mpegts://")  && !isTaisyncUSB;
 
     if (!isTaisyncUSB && _uri.isEmpty()) {
         qCritical() << "VideoReceiver::start() failed because URI is not specified";
@@ -281,7 +282,7 @@ VideoReceiver::start()
             break;
         }
 
-        if(isUdp || isTaisyncUSB) {
+        if(isUdp || isMPEGTS || isTaisyncUSB) {
             dataSource = gst_element_factory_make("udpsrc", "udp-source");
         } else if(isTCP) {
             dataSource = gst_element_factory_make("tcpclientsrc", "tcpclient-source");
@@ -309,24 +310,26 @@ VideoReceiver::start()
         } else if(isTCP) {
             QUrl url(_uri);
             g_object_set(static_cast<gpointer>(dataSource), "host", qPrintable(url.host()), "port", url.port(), nullptr );
+        } else if(isMPEGTS) {
+            QUrl url(_uri);
+            g_object_set(static_cast<gpointer>(dataSource), "port", url.port(), nullptr);
         } else {
             g_object_set(static_cast<gpointer>(dataSource), "location", qPrintable(_uri), "latency", 17, "udp-reconnect", 1, "timeout", _udpReconnect_us, NULL);
         }
 
-        // Currently, we expect H264 when using anything except for TCP.  Long term we may want this to be settable
-        if (isTCP) {
-            if ((demux = gst_element_factory_make("tsdemux", "mpeg2-ts-demuxer")) == nullptr) {
+        if (isTCP || isMPEGTS) {
+            if ((demux = gst_element_factory_make("tsdemux", "mpeg-ts-demuxer")) == nullptr) {
                 qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('tsdemux')";
                 break;
             }
         } else {
             if(!isTaisyncUSB) {
                 if ((demux = gst_element_factory_make("rtph264depay", "rtp-h264-depacketizer")) == nullptr) {
-                qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('rtph264depay')";
-                break;
+                   qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('rtph264depay')";
+                    break;
+                }
             }
         }
-        }
 
         if ((parser = gst_element_factory_make("h264parse", "h264-parser")) == nullptr) {
             qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('h264parse')";
@@ -374,13 +377,13 @@ VideoReceiver::start()
                 qCritical() << "Unable to link Taisync USB elements.";
                 break;
             }
-        } else if (isTCP) {
+        } else if (isTCP || isMPEGTS) {
             if(!gst_element_link(dataSource, demux)) {
-                qCritical() << "Unable to link TCP dataSource to Demux.";
+                qCritical() << "Unable to link TCP/MPEG-TS dataSource to Demux.";
                 break;
             }
             if(!gst_element_link_many(parser, _tee, queue, decoder, queue1, _videoSink, nullptr)) {
-                qCritical() << "Unable to link TCP pipline to parser.";
+                qCritical() << "Unable to link TCP/MPEG-TS pipline to parser.";
                 break;
             }
             g_signal_connect(demux, "pad-added", G_CALLBACK(newPadCB), parser);
@@ -469,7 +472,7 @@ VideoReceiver::start()
 void
 VideoReceiver::stop()
 {
-    if(!qgcApp()->runningUnitTests()) {
+    if(qgcApp()->runningUnitTests()) {
         return;
     }
 #if defined(QGC_GST_STREAMING)

src/VideoStreaming/VideoStreaming.cc

@@ -130,11 +130,13 @@ void initializeVideoStreaming(int &argc, char* argv[], char* logpath, char* debu
     #else
         //-- Generic initialization
         if (logpath) {
+            QString gstDebugFile = QString("%1/%2").arg(logpath).arg("gstreamer-log.txt");
+            qDebug() << "GStreamer debug output:" << gstDebugFile;
             if (debuglevel) {
                 qputenv("GST_DEBUG", debuglevel);
             }
             qputenv("GST_DEBUG_NO_COLOR", "1");
-            qputenv("GST_DEBUG_FILE", QString("%1/%2").arg(logpath).arg("gstreamer-log.txt").toUtf8());
+            qputenv("GST_DEBUG_FILE", gstDebugFile.toUtf8());
             qputenv("GST_DEBUG_DUMP_DOT_DIR", logpath);
         }
         GError* error = nullptr;

src/api/QGCCorePlugin.h

@@ -139,6 +139,11 @@ public:
     /// Custom builds must override to provide their own location.
     virtual QString stableDownloadLocation(void) const { return QString("qgroundcontrol.com"); }
 
+    /// Returns the complex mission items to display in the Plan UI
+    ///     @param complexMissionItemNames Default set of complex items
+    /// @return Complex items to be made available to user
+    virtual QStringList complexMissionItemNames(Vehicle* vehicle, const QStringList& complexMissionItemNames) { Q_UNUSED(vehicle); return complexMissionItemNames; }
+
     bool showTouchAreas(void) const { return _showTouchAreas; }
     bool showAdvancedUI(void) const { return _showAdvancedUI; }
     void setShowTouchAreas(bool show);

src/ui/preferences/GeneralSettings.qml

@@ -37,7 +37,7 @@ QGCView {
     property Fact _userBrandImageIndoor:        QGroundControl.settingsManager.brandImageSettings.userBrandImageIndoor
     property Fact _userBrandImageOutdoor:       QGroundControl.settingsManager.brandImageSettings.userBrandImageOutdoor
     property real _labelWidth:                  ScreenTools.defaultFontPixelWidth * 20
-    property real _comboFieldWidth:             ScreenTools.defaultFontPixelWidth * 25
+    property real _comboFieldWidth:             ScreenTools.defaultFontPixelWidth * 28
     property real _valueFieldWidth:             ScreenTools.defaultFontPixelWidth * 10
     property Fact _mapProvider:                 QGroundControl.settingsManager.flightMapSettings.mapProvider
     property Fact _mapType:                     QGroundControl.settingsManager.flightMapSettings.mapType
@@ -51,6 +51,7 @@ QGCView {
     property bool   _isUDP:                     _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.udpVideoSource
     property bool   _isRTSP:                    _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.rtspVideoSource
     property bool   _isTCP:                     _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.tcpVideoSource
+    property bool   _isMPEGTS:                  _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.mpegtsVideoSource
 
     readonly property real _internalWidthRatio: 0.8
 
@@ -707,7 +708,6 @@ QGCView {
                             Layout.fillWidth:           false
                             Layout.fillHeight:          false
                             columns:                    2
-
                             QGCLabel {
                                 text:                   qsTr("Video Source")
                                 visible:                QGroundControl.settingsManager.videoSettings.videoSource.visible
@@ -722,12 +722,12 @@ QGCView {
 
                             QGCLabel {
                                 text:                   qsTr("UDP Port")
-                                visible:                _isUDP && QGroundControl.settingsManager.videoSettings.udpPort.visible
+                                visible:                (_isUDP || _isMPEGTS)  && QGroundControl.settingsManager.videoSettings.udpPort.visible
                             }
                             FactTextField {
                                 Layout.preferredWidth:  _comboFieldWidth
                                 fact:                   QGroundControl.settingsManager.videoSettings.udpPort
-                                visible:                _isUDP && QGroundControl.settingsManager.videoSettings.udpPort.visible
+                                visible:                (_isUDP || _isMPEGTS) && QGroundControl.settingsManager.videoSettings.udpPort.visible
                             }
 
                             QGCLabel {